Development of Virtual Link Method for the Solution of Hyper-Redundant Spatial Robot Arms

This article presents a new method for the kinematics of hyper-redundant spatial robots, called the virtual link method. The method is based on dividing the robot into sub-systems consisting of three or four links. Virtual links are established between the first and the last nodes of each sub-system...

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Journal Title: Journal of Robotic Systems Vol. 13; no. 6; pp. 371 - 378
Authors: Hashem Ashrafiuon, K. Sanka
Format: Article
Published: Jun 1996
Online Access: Full Text